Identification of the nonlinear ship model parameters based on the turning test trial and the backstepping procedure

被引：22

作者：

Casado, MH

Ferreiro, R

机构：

[1] Univ Cadiz, Fac Ciencias Nauticas, Cadiz 11510, Spain

[2] Univ A Coruna, Escuela Super Marina Civil, La Coruna 36011, Spain

来源：

OCEAN ENGINEERING | 2005年 / 32卷 / 11-12期

关键词：

nonlinear systems; modelling; trajectory planning; adaptive control; backstepping; tuning functions design;

D O I：

10.1016/j.oceaneng.2004.11.003

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This work presents a novel contribution to solve the problem of identification of ship models parameters using the temporal variation data of the yaw angle achieved from a particular trial test as the turning circle. A relatively complex nonlinear model of Wagner-Smith has been chosen as basis because it represents the ship's dynamics appropriately as proved through the experimental measures obtained in a particular ship. The proposed algorithm of identification of the six ship model parameters is based on the combination of two sub-algorithms: the backstepping procedure and the tuning design method. The simulation results show the suitability of the proposed procedure. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：1350 / 1369

页数：20

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